CN106767773A - A kind of indoor earth magnetism reference map construction method and its device - Google Patents
A kind of indoor earth magnetism reference map construction method and its device Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
Abstract
The invention discloses a kind of indoor earth magnetism reference map construction method and its device,The method 1. uses auto-regressive analysis method,According to the validity of sample data,Data are processed respectively,Avoid influence of the lengthy and jumbled sample data to developing algorithm applicability,Algorithm optimization effect is preferable,2. collocating kriging technology is used,Improve reference map and build precision,Improve the interpolation and effect of optimization of existing algorithm,The device 1. is using the location technology based on earth's magnetic field,Avoid the deployment of additional infrastructure,And the characteristics of due to indoor earth's magnetic field,Can once be used for a comparatively long period of time in collection,2. common geomagnetic sensor is used,Its power consumption is UA ranks,Power consumption is much smaller relative to other indoor positioning terminals,Substantially reduce system energy consumption,Work can be for a long time positioned in portable equipment,3. geomagnetic sensor is used,Price is much lower,Reduce positioning cost.
Description
Technical field
The present invention relates to earth-magnetism navigation and indoor positioning field, more particularly to a kind of indoor earth magnetism reference map construction method and
Its device.
Background technology
Earth's magnetic field generally can be divided into main field (Bm), anomalous field (Ba), wherein, main field and anomalous field take up an area magnetic field respectively
More than the 95% and more than 4% of total amount component.According to related data introduction：Main field comes from the earth's core, slow and flat with change in time and space
Surely, and magnetic field is abnormal also very stable even across the several months, can be used to the foundation as positioning.Its basic principle is in advancing
Carrier Real-time Collection earth's magnetic field characteristic information, various interference then are carried out to data using the method for various signal transactings
Pretreatment, the data that will be measured in real time are compared with stored geomagnetic chart or geomagnetic model, according to corresponding standard
Then judge the best matching result in the Geomagnetic signal of Real-time Collection and geomagnetic chart or Geomagnetic Field Model, so that it is determined that collection point with
Immediate position in database, realizes the autonomous positioning of carrier.
Existing indoor positioning scheme has following defect：
1. existing indoor locating system needs extra infrastructure construction.Such as indoor-GPS technology, it is necessary to a large amount of
Correlator；Indoor wireless location technology such as Wi-Fi technology, ultrasonic wave location technology, infrared ray indoor positioning technologies, radio frequency are known
Other technology, Bluetooth technology and new super-broadband tech etc. are required for the support of additional beacon, in many cases important affair prophet
The position of road beacon can just be positioned.
2. the energy consumption needed for existing indoor locating system obtains framing signal is higher.Prior art using video system or
Other sensors obtain location information, it is meant that sensor is constantly in working condition, energy consumption is higher, in portable equipment not
Work can for a long time be positioned.
3. existing location equipment is relatively costly.As indoor-GPS technology needs substantial amounts of correlator, positioning cost is very
It is high；Some emerging systems employ the devices such as range sensor, baroceptor image first-class equipment cause it is relatively costly.
4. existing reference map construction method precision is not high.Existing earth magnetism reference map construction method has standard gaussian process to return
Return, ordinary kriging interpolation etc..This several algorithm exists, and in corridor type (length-beam difference is larger) scene, interpolation is not
Overall assurance good and no for sample, effect of optimization is poor.
5. the use that existing algorithm is not added with distinguishing to data.Lengthy and jumbled sample data reduces earth magnetism reference map and builds calculation
The applicability of method, data validity is different, will result in algorithm optimization effect using identical processing mode bad.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of indoor earth magnetism reference map construction method and its device；The party
Method
1. auto-regressive analysis method is used, according to the validity of sample data, data is processed respectively, it is to avoid be superfluous
Influence of the miscellaneous sample data to developing algorithm applicability, algorithm optimization effect is preferable；
2. collocating kriging technology is used, reference map is improved and is built precision.Improve existing algorithm in corridor type (length-wide
Degree difference is larger) interpolation and effect of optimization in scene；
The device
1. using the location technology based on earth's magnetic field, it is to avoid the deployment of additional infrastructure.And due to indoor earth magnetism
The characteristics of field, can once be used for a comparatively long period of time in collection；
2. common geomagnetic sensor is used, and its power consumption is UA ranks, and power consumption is relative to other indoor positioning ends
End is much smaller, substantially reduces system energy consumption, and work can be for a long time positioned in portable equipment；
3. geomagnetic sensor is used, it is more much lower than equipment such as camera, inertial navigation sensors in price, reduce positioning
Equipment cost.
Realizing the technical scheme of the object of the invention is：
A kind of indoor earth magnetism reference map construction method, comprises the following steps：
1) AR models (Auto Regressive Analysis Prediction Method, using auto-regressive analysis side
Method), the calculating of spatial auto-correlation degree is carried out, the degree that interdepends between data is weighed, data are grouped；
2) second-rate in the data of class one group will have been divided, ordinary kriging interpolation algorithm (Ordinary has been carried out
Kriging Interpolation Algorithm), for observation data, distance and semivariance are calculated two-by-two, find a plan
Curve matching distance and the relation of semivariance are closed, so as to calculate corresponding semivariance according to any distance, most major clique is obtained
Number, model hyper parameter is obtained by maximum Likelihood；
3) preferable one group of quality in the data of class will have been divided to do residual error with poor one group, and has added one and waited to estimate
Parameter, carries out ordinary kriging interpolation method, and two calculate distance and semivariance, finds a matched curve fitting distance and en
Poor relation, so as to calculate corresponding semivariance according to any distance, obtains optimal coefficient, by maximal possibility estimation side
Method obtains model hyper parameter；
4) using collocating kriging interpolation algorithm (Co-Kriging Interpolation Algorithm), will ask
The two common Kriging models for going out are merged, and obtain final forecast model, using optimal coefficient to the attribute of known point
Value is weighted summation, obtains the estimate of unknown point, formation zone magnetic field reference figure.
Indoor earth magnetism reference map can be just built by above-mentioned steps,
Step 1) in, one group of sample data { X is sett, length is t, as formula (1) sets up regression analysis equation, that is, is returned
Analysis forecast model,
Wherein, amIt is weights, etIt is the correction term of t, xtIt is the data value of t；In AR models, sequence { xt,
Currency is by sequence { etCurrency and sequence { xtPrevious length for M window in sequential value determine, { amCan pass through
Least square method is obtained；Inspection regressive prediction model simultaneously calculates predicated error；According to predicated error and test rating by sample number
According to two classes are divided into, wherein with a high credibility is designated as (Xb, yb), that takes second place is designated as (Xu, yu)。
Step 2) in, for second-rate observation data (Xu, yu), common Ke Lijin is built according to formula (1) and formula (2)
Model,
Wherein x is space coordinates vector, and b is generally directed to the multinomial of x, β, τ2It is unknown parameter with θ.Formula (3) is empty
Between correlation function, corresponding to the often variogram said, wherein r0Typically one subtraction function, and θhH is controlled to tie up range measurement
Calculation of correlation.Selected b and r0(t；Correlation function θ) is built, using maximum Likelihood (MLE) β, τ is selected2And θ.
It is specific to solve β, τ2And θ, if(or), the formula
Referred to as log-likelihood function, makesSolve：So as to join
Number θ maximum likelihood estimator be
Assuming that parameter beta, τ2With known to θ, then Kriging regression predicts the outcome such as formula (4),
Wherein variance function σ2X () is row vector, its element is σ2(x, xi), outside variance function is ∑, ∑hi=σ2
(xh, xi), B=b (xi),R (x)=σ2(x)/τ2, R=∑s/τ2。
Step 3) in, for data (Xb, yb-ρμu(Xb)) build common Kriging model, it is necessary to state ρ also the most gram in
The parameter and step 2 of golden model) it is identical.
Step 4) in, by step 2) and step 3) output result, substitute into formula (5) and formula (6), prediction mould finally can be obtained
Type, is that can obtain magnetic field reference figure according to forecast model.
R (x) therein and R are μu(x) and μsX the function of (), form is as follows,
A kind of indoor earth magnetism reference map construction device, including：Magnetic field data acquisition module, magnetic field data pretreatment module,
Model parameter resolves module, reference map and builds module；
Magnetic field data acquisition module, magnetic field data pretreatment module, model parameter resolve module and reference map builds module
It is sequentially connected composition.
Magnetic field data acquisition module includes magnetometer measures unit and magnetometer demarcates unit, wherein three axle magnetometer measurement
Three-axle magnetic field size in sensor coordinate system, magnetometer demarcates unit and is used to demarcate Magnetic Field and exported, magnetic force
Meter measuring unit and magnetometer are demarcated unit and are sequentially connected, and are three axle earth's magnetic field characteristic information datas of collection, and data are carried out into school
After standard, used for module below；
Magnetic field data pretreatment module includes data preanalysis unit and data sorting unit, and data preanalysis unit leads to
The space correlation coefficient for judging data is crossed, the reliability of magnetic field sample data information is analyzed；Data assorting process, according to data
Reliability, data are classified, and by result output to Models computed module, wherein data preanalysis unit is connected to data
Taxon, according to the quality of sample data, splits data into two parts, wherein with a high credibility is designated as (Xb, yb), take second place
It is designated as (Xu, yu), obtain data prediction information；
Model parameter resolves module includes collocating kriging solving unit, parametric solution unit, and collocating kriging resolves single
The Magnetic Field that unit exports according to magnetic field data acquisition module, during magnetic vector rotated into two-dimensional plane coordinate system；Then divide
It is other to (Xu, yu) and (Xb, yb-ρμu(Xb)) resolved with collocating kriging interpolating unit, it is designated as respectivelyWithParametric solution unit is solved on the basis of golden solving unit in common gram to multiple hyper parameters.In collaboration gram
Golden solving unit is connected with each other with parametric solution unit, is to pre-process information according to magnetic field data, respectively to (Xu, yu) and (Xb,
yb-ρμu(Xb)) be modeled with ordinary kriging interpolation algorithm, it is designated as respectivelyWithWherein ρ is used as second
The estimation parameter of Kriging model, calculates magnetic field model parameter；
Reference map builds module and is made up of construction unit, memory cell and display unit, and construction unit is according to magnetic field model
Parameter generates the magnetic field reference figure of whole region, and memory cell and display unit are stored and shown respectively to reference map, its
Middle construction unit, memory cell and display unit are sequentially connected, and magnetic field reference figure is set up according to magnetic field model parameter；Generation is whole
The magnetic field reference figure in region, and stored.
Beneficial effect：
The invention provides a kind of indoor earth magnetism reference map construction method and its device,
The method
1. auto-regressive analysis method is used, according to the validity of sample data, data is processed respectively, it is to avoid be superfluous
Influence of the miscellaneous sample data to developing algorithm applicability, algorithm optimization effect is preferable.
2. collocating kriging technology is used, reference map is improved and is built precision, improve existing algorithm in corridor type (length-wide
Degree difference is larger) interpolation and effect of optimization in scene.
The device
1. using the location technology based on earth's magnetic field, it is to avoid the deployment of additional infrastructure.And due to indoor earth magnetism
The characteristics of field, can once be used for a comparatively long period of time in collection.
2. common geomagnetic sensor is used, and its power consumption is UA ranks, and power consumption is relative to other indoor positioning ends
End is much smaller, substantially reduces system energy consumption, and work can be for a long time positioned in portable equipment.
3. geomagnetic sensor is used, it is more much lower than equipment such as camera, inertial navigation sensors in price, reduce positioning
Equipment cost.
Brief description of the drawings
Fig. 1 is the structured flowchart of indoor earth magnetism reference map construction device
Fig. 2 is the flow chart of indoor earth magnetism reference map construction method
Specific embodiment
Present invention is further elaborated with reference to the accompanying drawings and examples, but is not limitation of the invention.
Embodiment
A kind of indoor earth magnetism reference map construction method, comprises the following steps：
1) AR models (Auto Regressive Analysis Prediction Method, using auto-regressive analysis side
Method), the calculating of spatial auto-correlation degree is carried out, the degree that interdepends between data is weighed, data are grouped；
2) second-rate in the data of class one group will have been divided, ordinary kriging interpolation algorithm (Ordinary has been carried out
Kriging Interpolation Algorithm), for observation data, distance and semivariance are calculated two-by-two, find a plan
Curve matching distance and the relation of semivariance are closed, so as to calculate corresponding semivariance according to any distance, most major clique is obtained
Number, model hyper parameter is obtained by maximum Likelihood；
3) preferable one group of quality in the data of class will have been divided to do residual error with poor one group, and has added one and waited to estimate
Parameter, carries out ordinary kriging interpolation method, and two calculate distance and semivariance, finds a matched curve fitting distance and en
Poor relation, so as to calculate corresponding semivariance according to any distance, obtains optimal coefficient, by maximal possibility estimation side
Method obtains model hyper parameter；
4) using collocating kriging interpolation algorithm (Co-Kriging Interpolation Algorithm), will ask
The two common Kriging models for going out are merged, and obtain final forecast model, using optimal coefficient to the attribute of known point
Value is weighted summation, obtains the estimate of unknown point, formation zone magnetic field reference figure.
Indoor earth magnetism reference map can be just built by above-mentioned steps,
Step 1) in, one group of sample data { X is sett, length is t, as formula (1) sets up regression analysis equation, that is, is returned
Analysis forecast model,
Wherein, amIt is weights, etIt is the correction term of t, xtIt is the data value of t；In AR models, sequence { xt,
Currency is by sequence { etCurrency and sequence { xtPrevious length for M window in sequential value determine, { amCan pass through
Least square method is obtained；Inspection regressive prediction model simultaneously calculates predicated error；According to predicated error and test rating by sample number
According to two classes are divided into, wherein with a high credibility is designated as (Xb, yb), that takes second place is designated as (Xu, yu)。
Step 2) in, for second-rate observation data (Xu, yu), common Ke Lijin is built according to formula (1) and formula (2)
Model,
Wherein x is space coordinates vector, and b is generally directed to the multinomial of x, β, τ2It is unknown parameter with θ.Formula (3) is empty
Between correlation function, corresponding to the often variogram said, wherein r0Typically one subtraction function, and θhH is controlled to tie up range measurement
Calculation of correlation.Selected b and r0(t；Correlation function θ) is built, using maximum Likelihood (MLE) β, τ is selected2And θ.
It is specific to solve β, τ2And θ, if(or), the formula
Referred to as log-likelihood function, makesSolve：So as to join
Number θ maximum likelihood estimator be
Assuming that parameter beta, τ2With known to θ, then Kriging regression predicts the outcome such as formula (4),
Wherein variance function σ2X () is row vector, its element is σ2(x, xi), outside variance function is Σ, Σhi=σ2
(xh, xi), B=b (xi),R (x)=σ2(x)/τ2, R=∑s/τ2。
Step 3) in, for data (Xb, yb-ρμu(Xb)) build common Kriging model, it is necessary to state ρ also the most gram in
The parameter and step 2 of golden model) it is identical.
Step 4) in, by step 2) and step 3) output result, substitute into formula (5) and formula (6), prediction mould finally can be obtained
Type, is that can obtain magnetic field reference figure according to forecast model.
R (x) therein and R are μu(x) and μsX the function of (), form is as follows,
As shown in Figure 1：
A kind of indoor earth magnetism reference map construction device, including：Magnetic field data acquisition module 1, magnetic field data pretreatment module
2nd, model parameter resolves module 3, reference map and builds module 4；It is to pre-process mould by magnetic field data acquisition module 1, magnetic field data
Block 2, model parameter resolves module 3 and reference map builds module 4 and is sequentially connected composition.
Magnetic field data acquisition module 1 includes：Magnetometer measures unit 5, magnetometer demarcates unit 6, wherein magnetometer measures
Three-axle magnetic field size in the measurement sensor coordinate system of unit 5, magnetometer demarcates unit 6 and is used to demarcate simultaneously Magnetic Field
Output.Magnetometer measures unit 5 and magnetometer are demarcated unit 6 and are sequentially connected；
The effect of magnetic field data acquisition module 1 is three axle earth's magnetic field characteristic information datas of collection, after data are calibrated,
Used for module below.
Magnetic field data pretreatment module 2 includes data preanalysis unit 7, data sorting unit 8, data preanalysis unit 7
By judging the space correlation coefficient of data, the reliability of magnetic field sample data information is analyzed；Data sorting unit 8, according to number
According to reliability, data are classified, and by result output to Models computed module.Wherein data preanalysis unit 7 is connected
To data sorting unit 8；
The effect of magnetic field data pretreatment module 2 splits data into two parts according to the quality of sample data, wherein credible
Degree is high to be designated as (Xb, yb), that takes second place is designated as (Xu, yu), obtain data prediction information.
Model parameter resolves module 3 includes collocating kriging solving unit 9, parametric solution unit 10, collocating kriging solution
The Magnetic Field that is exported according to magnetic field data acquisition module of unit 9 is calculated, during magnetic vector rotated into two-dimensional plane coordinate system；So
Afterwards respectively to (Xu, yu) and (Xb, yb-ρμu(Xb)) resolved with Kriging regression method, it is designated as respectivelyWithParametric solution unit 10 is solved on the basis of golden solving unit 9 in common gram to multiple hyper parameters.Collaboration gram
In golden solving unit 9 be connected with each other with parametric solution unit 10.
The effect that model parameter resolves module 3 is to pre-process information according to magnetic field data, respectively to (Xu, yu) and (Xb, yb-
ρμu(Xb)) be modeled with ordinary kriging interpolation algorithm, it is designated as respectivelyWithWherein ρ is used as the second gram
In golden model estimation parameter, calculate magnetic field model parameter；
Reference map builds module 4 and is made up of construction unit 11, memory cell 12 and display unit 13, the basis of construction unit 11
Magnetic field model parameter generates the magnetic field reference figure of whole region, and memory cell 12 and display unit 13 are deposited respectively to reference map
Storage and display, wherein construction unit 11, memory cell 12 and display unit 13 are sequentially connected；
The effect that reference map builds module 4 sets up magnetic field reference figure according to magnetic field model parameter；Generate the magnetic of whole region
Field reference map, and stored.
The flow chart of indoor earth magnetism reference map construction method, as shown in Figure 2：
S101 imports magnetic field data
S102 sets up regression analysis equation
S103 detection forecast models calculate predicated error
S104 is sorted data into according to index
S105 data are calculated apart from semivariance two-by-two
S106 is fitted the relation of distance and semivariance
S107 calculates semivariance according to any distance
S108 the maximum likelihood model group parameters
S109 merges two common Kriging models
S110 optimal coefficients are to property value weighted sum
S111 solves final prediction model parameterses
S112 producing region magnetic field reference figures.
Claims (9)
1. a kind of indoor earth magnetism reference map construction method, it is characterised in that comprise the following steps：
1) AR models (Auto Regressive Analysis Prediction Method, using auto-regressive analysis method),
The calculating of spatial auto-correlation degree is carried out, the degree that interdepends between data is weighed, data are grouped；
2) second-rate in the data of class one group will have been divided, ordinary kriging interpolation algorithm (Ordinary has been carried out
Kriging Interpolation Algorithm), for observation data, distance and semivariance are calculated two-by-two, find a plan
Curve matching distance and the relation of semivariance are closed, so as to calculate corresponding semivariance according to any distance, most major clique is obtained
Number, model hyper parameter is obtained by maximum Likelihood；
3) preferable one group of quality in the data of class will have been divided to do residual error with poor one group, and has added one and waited to estimate ginseng
Number, carries out ordinary kriging interpolation method, and two calculate distance and semivariance, finds a matched curve fitting distance and semivariance
Relation, so as to calculate corresponding semivariance according to any distance, optimal coefficient is obtained, by maximum Likelihood
Obtain model hyper parameter；
4) using collocating kriging interpolation algorithm (Co-Kriging Interpolation Algorithm), by what is obtained
Two common Kriging models are merged, and obtain final forecast model, and the property value of known point is entered using optimal coefficient
Row weighted sum, obtains the estimate of unknown point, formation zone magnetic field reference figure.
Indoor earth magnetism reference map can be just built by above-mentioned steps.
2. indoor earth magnetism reference map construction method according to claim 1, it is characterised in that step 1) in, set one group
Sample data { Xt, length is t, as formula (1) sets up regression analysis equation, i.e. Regression Model,
Wherein, amIt is weights, etIt is the correction term of t, xtIt is the data value of t；In AR models, sequence { xt, currently
Value is by sequence { etCurrency and sequence { xtPrevious length for M window in sequential value determine, { amCan be by minimum
Square law is obtained；Inspection regressive prediction model simultaneously calculates predicated error；Sample data is divided according to predicated error and test rating
It is two classes, wherein with a high credibility is designated as (Xb, yb), that takes second place is designated as (Xu, yu)。
3. indoor earth magnetism reference map construction method according to claim 1, it is characterised in that step 2) in, for quality
Poor observation data (Xu, yu), common Kriging model is built according to formula (1) and formula (2),
Wherein x is space coordinates vector, and b is generally directed to the multinomial of x, β, τ2It is unknown parameter with θ.Formula (3) is space correlation
Function, corresponding to the variogram often said, wherein r0Typically one subtraction function, and θhH is controlled to tie up the degree of correlation of range measurement
Amount.Selected b and r0(t；Correlation function θ) is built, using maximum Likelihood (MLE) β, τ is selected2And θ.
It is specific to solve β, τ2And θ, if(or), the formula is referred to as
Log-likelihood function, orderSolve：So as to parameter θ can be obtained
Maximum likelihood estimator be
Assuming that parameter beta, τ2With known to θ, then Kriging regression predicts the outcome such as formula (4),
Wherein variance function σ2X () is row vector, its element is σ2(x, xi), outside variance function is ∑, ∑hi=σ2(xh,
xi), B=b (xi),R (x)=σ2(x)/τ2, R=∑s/τ2。
4. indoor earth magnetism reference map construction method according to claim 1, it is characterised in that step 4) in, by step 2)
With step 3) output result, substitute into formula (5) and formula (6), forecast model finally can be obtained, be that can obtain magnetic according to forecast model
Field reference map.
R (x) therein and R are μu(x) and μsX the function of (), form is as follows,
5. a kind of indoor earth magnetism reference map construction device, it is characterised in that including：Magnetic field data acquisition module, magnetic field data are pre-
Processing module, model parameter resolve module, reference map and build module；
Magnetic field data acquisition module, magnetic field data pretreatment module, model parameter resolve module and reference map builds module successively
Connection composition.
6. indoor earth magnetism reference map construction device according to claim 5, it is characterised in that magnetic field data acquisition module bag
Include：Magnetometer measures unit and magnetometer demarcate unit, the wherein three-axle magnetic field in three axle magnetometer measurement sensor coordinate system
Size, magnetometer demarcates unit and is used to demarcate Magnetic Field and exported, and magnetometer measures unit and magnetometer demarcate single
Unit is sequentially connected, and is three axle earth's magnetic field characteristic information datas of collection, after data are calibrated, is used for module below.
7. indoor earth magnetism reference map construction device according to claim 5, it is characterised in that magnetic field data pretreatment module
Including data preanalysis unit and data sorting unit, data preanalysis unit, by judging the space correlation coefficient of data, divides
Analyse the reliability of magnetic field sample data information；Data assorting process, according to the reliability of data, data is classified, and will
To Models computed module, wherein data preanalysis unit is connected to data sorting unit, according to the matter of sample data for result output
Amount, splits data into two parts, wherein with a high credibility is designated as (Xb, yb), that takes second place is designated as (Xu, yu), obtain data prediction
Information.
8. indoor earth magnetism reference map construction device according to claim 5, it is characterised in that model parameter resolves module bag
Collocating kriging solving unit and parametric solution unit are included, collocating kriging solving unit is exported according to magnetic field data acquisition module
Magnetic Field, during magnetic vector rotated into two-dimensional plane coordinate system；Then respectively to (Xu, yu) and (Xb, yb-ρμu(Xb))
Resolved with collocating kriging interpolating unit, be designated as respectivelyWithParametric solution unit is in common Ke Lijin
Multiple hyper parameters are solved on the basis of solving unit.Collocating kriging solving unit is mutually interconnected with parametric solution unit
Connect, be that information is pre-processed according to magnetic field data, respectively to (Xu, yu) and (Xb, yb-ρμu(Xb)) use ordinary kriging interpolation algorithm
It is modeled, is designated as respectivelyWithWherein ρ calculates magnetic as second estimation parameter of Kriging model
Field model parameter.
9. indoor earth magnetism reference map construction device according to claim 5, it is characterised in that reference map builds module by structure
Build unit, memory cell and display unit to constitute, construction unit generates the magnetic field reference of whole region according to magnetic field model parameter
Figure, memory cell and display unit are stored and shown respectively to reference map, and wherein construction unit, memory cell is single with display
Unit is sequentially connected, and magnetic field reference figure is set up according to magnetic field model parameter, generates the magnetic field reference figure of whole region, and is deposited
Storage.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2016105837223 | 2016-07-22 | ||
| CN201610583722 | 2016-07-22 |
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| Publication Number | Publication Date |
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| CN106767773A true CN106767773A (en) | 2017-05-31 |
| CN106767773B CN106767773B (en) | 2020-06-19 |
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| CN201710072115.5A Expired - Fee Related CN106767773B (en) | 2016-07-22 | 2017-02-09 | Indoor geomagnetic reference map construction method and device |
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| CN (1) | CN106767773B (en) |
Cited By (2)
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| CN108120436A (en) * | 2017-12-18 | 2018-06-05 | 北京工业大学 | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room |
| CN109084766A (en) * | 2018-08-28 | 2018-12-25 | 桂林电子科技大学 | A kind of interior unmanned plane positioning system and method |
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| CN105547301A (en) * | 2016-02-25 | 2016-05-04 | 华南理工大学 | Indoor map construction method and device based on geomagnetism |
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| US5323322A (en) * | 1992-03-05 | 1994-06-21 | Trimble Navigation Limited | Networked differential GPS system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108120436A (en) * | 2017-12-18 | 2018-06-05 | 北京工业大学 | Real scene navigation method in a kind of iBeacon auxiliary earth magnetism room |
| CN109084766A (en) * | 2018-08-28 | 2018-12-25 | 桂林电子科技大学 | A kind of interior unmanned plane positioning system and method |
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| CN106767773B (en) | 2020-06-19 |
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